SELECT 
  cscart_products_categories.product_id, 
  GROUP_CONCAT(
    IF(
      cscart_products_categories.link_type = "M", 
      CONCAT(
        cscart_products_categories.category_id, 
        "M"
      ), 
      cscart_products_categories.category_id
    )
  ) AS category_ids, 
  product_position_source.position AS position 
FROM 
  cscart_products_categories 
  INNER JOIN cscart_categories ON cscart_categories.category_id = cscart_products_categories.category_id 
  AND cscart_categories.storefront_id IN (0, 1) 
  AND (
    cscart_categories.usergroup_ids = '' 
    OR FIND_IN_SET(
      0, cscart_categories.usergroup_ids
    ) 
    OR FIND_IN_SET(
      1, cscart_categories.usergroup_ids
    )
  ) 
  AND cscart_categories.status IN ('A', 'H') 
  LEFT JOIN cscart_products_categories AS product_position_source ON cscart_products_categories.product_id = product_position_source.product_id 
  AND product_position_source.category_id = 7143 
WHERE 
  cscart_products_categories.product_id IN (
    90094, 90104, 90113, 91937, 91939, 91940, 
    91941, 91942, 91943, 89201, 89271, 
    89274, 89358, 91288, 86822, 86856, 
    83116, 83126, 83135, 89327, 91283, 
    83144, 90121, 89373, 89266, 82386, 
    84123, 86228, 89200, 89328, 86223, 
    89004, 89329, 91961, 91962, 91963, 
    91964, 91965, 91966, 91967, 83143, 
    89269, 86227, 84122, 82447, 89402, 
    89404, 91284, 89403, 89331, 82403, 
    82410, 82424, 89265, 89330, 89264, 
    86817, 89368, 89268, 89367, 89308, 
    91920, 91928, 89267, 86818, 86820, 
    89591, 89592, 86226, 89295, 86237, 
    89332, 89294, 89405, 91912, 89309, 
    89321, 86230, 89257, 89323, 91993, 
    91994, 91995, 91996, 91997, 91998, 
    91999, 89322, 89325, 86816, 89306, 
    89324, 89366, 89305, 89317, 82385
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01587

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "129.15"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "5.48"
      },
      "nested_loop": [
        {
          "table": {
            "table_name": "cscart_categories",
            "access_type": "ALL",
            "possible_keys": [
              "PRIMARY",
              "c_status",
              "p_category_id"
            ],
            "rows_examined_per_scan": 208,
            "rows_produced_per_join": 8,
            "filtered": "4.00",
            "cost_info": {
              "read_cost": "20.72",
              "eval_cost": "0.83",
              "prefix_cost": "21.55",
              "data_read_per_join": "21K"
            },
            "used_columns": [
              "category_id",
              "usergroup_ids",
              "status",
              "storefront_id"
            ],
            "attached_condition": "((`nuie_scalesta_net`.`cscart_categories`.`storefront_id` in (0,1)) and ((`nuie_scalesta_net`.`cscart_categories`.`usergroup_ids` = '') or (0 <> find_in_set(0,`nuie_scalesta_net`.`cscart_categories`.`usergroup_ids`)) or (0 <> find_in_set(1,`nuie_scalesta_net`.`cscart_categories`.`usergroup_ids`))) and (`nuie_scalesta_net`.`cscart_categories`.`status` in ('A','H')))"
          }
        },
        {
          "table": {
            "table_name": "cscart_products_categories",
            "access_type": "ref",
            "possible_keys": [
              "PRIMARY",
              "link_type",
              "pt"
            ],
            "key": "PRIMARY",
            "used_key_parts": [
              "category_id"
            ],
            "key_length": "3",
            "ref": [
              "nuie_scalesta_net.cscart_categories.category_id"
            ],
            "rows_examined_per_scan": 117,
            "rows_produced_per_join": 5,
            "filtered": "0.56",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.55",
              "prefix_cost": "121.75",
              "data_read_per_join": "87"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (90094,90104,90113,91937,91939,91940,91941,91942,91943,89201,89271,89274,89358,91288,86822,86856,83116,83126,83135,89327,91283,83144,90121,89373,89266,82386,84123,86228,89200,89328,86223,89004,89329,91961,91962,91963,91964,91965,91966,91967,83143,89269,86227,84122,82447,89402,89404,91284,89403,89331,82403,82410,82424,89265,89330,89264,86817,89368,89268,89367,89308,91920,91928,89267,86818,86820,89591,89592,86226,89295,86237,89332,89294,89405,91912,89309,89321,86230,89257,89323,91993,91994,91995,91996,91997,91998,91999,89322,89325,86816,89306,89324,89366,89305,89317,82385))"
          }
        },
        {
          "table": {
            "table_name": "product_position_source",
            "access_type": "eq_ref",
            "possible_keys": [
              "PRIMARY",
              "pt"
            ],
            "key": "PRIMARY",
            "used_key_parts": [
              "category_id",
              "product_id"
            ],
            "key_length": "6",
            "ref": [
              "const",
              "nuie_scalesta_net.cscart_products_categories.product_id"
            ],
            "rows_examined_per_scan": 1,
            "rows_produced_per_join": 5,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "1.37",
              "eval_cost": "0.55",
              "prefix_cost": "123.67",
              "data_read_per_join": "87"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}